EP2547556B1 - Method for identifying a short circuit to the positive terminal of a battery and circuit device for carrying out the method - Google Patents

Method for identifying a short circuit to the positive terminal of a battery and circuit device for carrying out the method Download PDF

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Publication number
EP2547556B1
EP2547556B1 EP11705605.1A EP11705605A EP2547556B1 EP 2547556 B1 EP2547556 B1 EP 2547556B1 EP 11705605 A EP11705605 A EP 11705605A EP 2547556 B1 EP2547556 B1 EP 2547556B1
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EP
European Patent Office
Prior art keywords
control device
electrically operated
switches
switch
battery
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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EP11705605.1A
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German (de)
French (fr)
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EP2547556A1 (en
Inventor
Patrick Bauer
Mehmet Oencel
Martin Czasch
Ralph Bauer
Bernd Schelling
Thomas Holst
Georg Hoegele
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for

Definitions

  • the invention relates to a method for detecting a short circuit to battery plus in the circuit of a motor vehicle with a controllable by a control electronic circuit breaker and at least one, preferably a plurality of consumers on and off switching electrical switches, the switching state of the control device is reported and at which is then concluded for a faultless function when the connected loads are supplied with voltage when the electronic circuit breaker is switched on and when the electronic circuit breaker is switched off, a message of the switches switching on and off the "short circuit" or "load drop" occurs.
  • the subject of the present invention is also a circuit arrangement with an electronic component, which is designed so that it is suitable for carrying out the method, as well as a computer program and a computer program product, which are likewise suitable for carrying out the method.
  • the invention makes use of the usual in vehicles today feedback to the control unit or the control device of the vehicle of the electrical consumers on and off switching electrical switch and uses the error message in accordance with the switching state of the electronic circuit breaker for detecting a fault due to short circuit to battery Plus.
  • This detection of an error can be done logically, so far, the error detection can be part of a logical electronic module, which in turn can be part of the controller.
  • the logic can also be realized by a computer program that is implemented in the control unit of the internal combustion engine. Since the hardware consisting of electronic circuit breaker and individual, the consumer switching on and off switches in vehicles anyway, can be done in this way a retrofit of the process, wherein retrofitting is easily accomplished by reading a program stored on, for example, a computer program product such as a DVD, an external memory, an external computer, or the like.
  • a power supply of a vehicle in a control device 120 is shown schematically.
  • a vehicle battery 105 supplies a battery voltage U batt , which is applied to an input of a control unit 120.
  • electronic switches 124, 125, 126 whose switching signals LSx, where x is for the relevant switch, so for example LS124 for the switch 124, LS125 for the switch 125, LS126 for the switch 126, a logic module 122 is supplied be turned on, consumers 110, 111, 112 of the vehicle on and off.
  • the consumers are shown in the figure as ohmic resistors.
  • the switches 124, 125, 126 the loads 110, 111, 112 are applied to the voltage U a .
  • the voltage U a is the output voltage which is applied to an output of the control device 120.
  • the logic module 122 actuates an electronic power switch HS, which is designated in the figure by reference numeral 123.
  • a short circuit to the battery plus that is to say after the supply voltage, basically corresponds to a permanent supply "at the" electronic circuit breaker HS 123 "over".
  • the supply voltage is switched off at the end of a drive cycle. This means that the electronic power switch HS 123 is opened by the logic module 122.
  • an error message is expected at the switches 124, 125, 126 due to lack of battery voltage.
  • no error is reported, it can be concluded that there is still a supply voltage, although the supply is already switched off. This condition is interpreted as a "short circuit to battery plus” fault and stored and / or output in a correspondingly designated error code in the controller 120.
  • the logic module 122 may be part of the controller 120 and thus represent a circuit part of the controller 120. However, it can also be embodied as a computer program which is implemented in the control unit 120. The program itself can be stored on a data carrier and so far also be retrofitted to existing control units.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
  • Emergency Protection Circuit Devices (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Erkennung eines Kurzschlusses nach Batterie-Plus im Stromkreis eines Kraftfahrzeugs mit einem von einer Steuereinrichtung ansteuerbaren elektronischen Leistungsschalter und mit wenigstens einem, vorzugsweise einer Mehrzahl von Verbrauchern ein- und ausschaltenden elektrischen Schaltern, deren Schaltzustand der Steuereinrichtung gemeldet wird und bei denen auf eine fehlerfreie Funktion dann geschlossen wird, wenn bei eingeschaltetem elektronischen Leistungsschalter die angeschlossenen Verbraucher mit Spannung versorgt werden und bei ausgeschaltetem elektronischen Leistungsschalter eine Meldung der die Verbraucher ein - und ausschaltenden Schalter "Kurzschluss" oder "Lastabfall" erfolgt.The invention relates to a method for detecting a short circuit to battery plus in the circuit of a motor vehicle with a controllable by a control electronic circuit breaker and at least one, preferably a plurality of consumers on and off switching electrical switches, the switching state of the control device is reported and at which is then concluded for a faultless function when the connected loads are supplied with voltage when the electronic circuit breaker is switched on and when the electronic circuit breaker is switched off, a message of the switches switching on and off the "short circuit" or "load drop" occurs.

Gegenstand der vorliegenden Erfindung sind auch eine Schaltungsanordnung mit einem Elektronikbaustein, der so ausgelegt ist, dass er zur Durchführung des Verfahrens geeignet ist, sowie ein Computerprogramm und ein Computerprogrammprodukt, welche ebenfalls zur Durchführung des Verfahrens geeignet sind.The subject of the present invention is also a circuit arrangement with an electronic component, which is designed so that it is suitable for carrying out the method, as well as a computer program and a computer program product, which are likewise suitable for carrying out the method.

Stand der TechnikState of the art

In heutigen Fahrzeugen sind im Steuergerät elektronische Leistungsschalter in Motorsteuergeräten vorgesehen, die die Batteriespannung eines oder mehrerer Verbraucher ein- und ausschalten. Diese Schalter werden elektronisch realisiert. Sie üben im Wesentlichen die Funktion eines elektronischen Hauptrelais aus. Problematisch hierbei ist jedoch, dass mittels dieser elektronischen Schalter kein Kurzschluss nach Batterie-Plus am Ausgang des Leistungsschalters erkennbar ist. Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren zu schaffen, welches es ermöglicht, einen Kurzschluss nach Batterie-Plus am Ausgang des Leistungsschalters auf einfach zu realisierende Weise zu erkennen.In today's vehicles electronic circuit breakers are provided in engine control units in the control unit, which turn on and off the battery voltage of one or more consumers. These switches are realized electronically. They essentially perform the function of an electronic main relay. The problem here, however, is that no short circuit to battery plus at the output of the circuit breaker recognizable by means of this electronic switch is. The invention is therefore based on the object to provide a method which makes it possible to detect a short circuit to battery plus at the output of the circuit breaker in a way that is easy to implement.

Es ist beispielsweise aus DE 102008040810 A bekannt, die Funktionsfähigkeit eines aus drei Unterbrechungsschaltern bestehenden elektrischen Schützes anhand von Messergebnissen zu diagnostizieren.It is for example off DE 102008040810 A It is known to diagnose the functionality of an electrical contactor consisting of three circuit breakers by means of measurement results.

Offenbarung der ErfindungDisclosure of the invention Vorteile der ErfindungAdvantages of the invention

Diese Aufgabe wird durch ein Verfahren gemäß den Ansprüchen 1 und 2 sowie durch eine Schaltungsanordnung gemäß dem Anspruch 3 gelöst.This object is achieved by a method according to claims 1 and 2 and by a circuit arrangement according to claim 3.

Die Erfindung macht sich die in Fahrzeugen heute üblichen Rückmeldungen zum Steuergerät oder zur Steuereinrichtung des Fahrzeugs der die elektrischen Verbraucher ein- und ausschaltenden elektrischen Schalter zu Nutze und benutzt die Fehlermeldung in Abgleichung mit dem Schaltzustand des elektronischen Leistungsschalters zur Erkennung eines Fehlers aufgrund Kurzschlusses nach Batterie-Plus.The invention makes use of the usual in vehicles today feedback to the control unit or the control device of the vehicle of the electrical consumers on and off switching electrical switch and uses the error message in accordance with the switching state of the electronic circuit breaker for detecting a fault due to short circuit to battery Plus.

Diese Erkennung eines Fehlers kann auf logischem Wege erfolgen, insoweit kann die Fehlererkennung Teil eines logischen elektronischen Bausteins sein, der wiederum Teil des Steuergeräts sein kann.This detection of an error can be done logically, so far, the error detection can be part of a logical electronic module, which in turn can be part of the controller.

Darüber hinaus kann die Logik auch durch ein Computerprogramm realisiert werden, das im Steuergerät der Brennkraftmaschine implementiert ist. Da die Hardware bestehend aus elektronischem Leistungsschalter und einzelnen, die Verbraucher ein- und ausschaltenden Schaltern in Fahrzeugen ohnehin vorhanden ist, kann auf diese Weise eine Nachrüstung des Verfahrens erfolgen, wobei die Nachrüstung auf einfachem Wege durch Einlesen eines Programms stattfindet, das beispielsweise auf einem Computerprogrammprodukt wie einer DVD, einem externen Speicher, einem externen Computer oder dergleichen gespeichert ist.In addition, the logic can also be realized by a computer program that is implemented in the control unit of the internal combustion engine. Since the hardware consisting of electronic circuit breaker and individual, the consumer switching on and off switches in vehicles anyway, can be done in this way a retrofit of the process, wherein retrofitting is easily accomplished by reading a program stored on, for example, a computer program product such as a DVD, an external memory, an external computer, or the like.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert.An embodiment of the invention is illustrated in the drawing and explained in more detail in the following description.

Ausführungsformen der ErfindungEmbodiments of the invention

In der Figur ist schematisch eine Stromversorgung eines Fahrzeugs in einem Steuergerät 120 dargestellt. Eine Fahrzeugbatterie 105 liefert eine Batteriespannung Ubatt, die an einem Eingang eines Steuergeräts 120 anliegt. Mittels in dem Steuergerät 120 angeordneten elektronischen Schaltern 124, 125, 126, deren Schaltsignale LSx, wobei x für den betreffenden Schalter steht, also beispielsweise LS124 für den Schalter 124, LS125 für den Schalter 125, LS126 für den Schalter 126, einem Logikbaustein 122 zugeführt werden, werden Verbraucher 110, 111, 112 des Fahrzeugs ein- und ausgeschaltet. Die Verbraucher sind in der Figur als ohmsche Widerstände dargestellt. Durch die Schalter 124, 125, 126 werden die Verbraucher 110, 111, 112 mit der Spannung Ua beaufschlagt. Die Spannung Ua ist die Ausgangsspannung, die an einem Ausgang des Steuergeräts 120 anliegt. Der Logikbaustein 122 betätigt einen elektronischen Leistungsschalter HS, der in der Figur mit Bezugszeichen 123 bezeichnet ist. Im eingeschalteten Zustand des elektronischen Leistungsschalters HS 123 liegt am Ausgang des Steuergeräts 120 die Spannung Ua = Ubatt an. Durch den elektronischen Leistungsschalter HS 123 können sämtliche Verbraucher von der Batteriespannung Ubatt getrennt oder mit der Batteriespannung Ubatt verbunden werden.In the figure , a power supply of a vehicle in a control device 120 is shown schematically. A vehicle battery 105 supplies a battery voltage U batt , which is applied to an input of a control unit 120. By means arranged in the control unit 120 electronic switches 124, 125, 126 whose switching signals LSx, where x is for the relevant switch, so for example LS124 for the switch 124, LS125 for the switch 125, LS126 for the switch 126, a logic module 122 is supplied be turned on, consumers 110, 111, 112 of the vehicle on and off. The consumers are shown in the figure as ohmic resistors. By the switches 124, 125, 126, the loads 110, 111, 112 are applied to the voltage U a . The voltage U a is the output voltage which is applied to an output of the control device 120. The logic module 122 actuates an electronic power switch HS, which is designated in the figure by reference numeral 123. When the electronic circuit breaker HS 123 is switched on, the voltage U a = U batt is present at the output of the control unit 120. Through the electronic circuit breaker HS 123 all consumers can be disconnected from the battery voltage U batt or connected to the battery voltage U batt .

Von den Schaltern 124, 125, 126 werden "Fehlermeldungen" in Form der Schaltsignale LSx an den Elektronikbaustein 122 gemeldet. Wenn beispielsweise der elektronische Leistungsschalter HS 123 eingeschaltet ist und die angeschlossenen Verbraucher 110, 111, 112 mit Spannung versorgt sind, findet im Falle einer ordnungsgemäßen Funktion der Schalter 124, 125, 126 keine Fehlermeldung an den Logikbaustein 122 statt. Ist der elektronische Leistungsschalter HS 123 ausgeschaltet und sind damit die Verbraucher spannungslos, melden die Elektronik(leistungs)schalter 124, 125, 126, welche die Verbraucher ein- und ausschalten, in diesem Falle entweder einen Fehler "Kurzschluss" oder "Lastabfall".From the switches 124, 125, 126 "error messages" in the form of the switching signals LSx are reported to the electronic module 122. For example, if the electronic power switch HS 123 is turned on and the connected loads 110, 111, 112 are supplied with power, the switch 124, 125, 126 will not operate in case of proper operation Error message to the logic block 122 instead. If the electronic circuit breaker HS 123 is turned off and thus consumers are de-energized, the electronics (power) switch 124, 125, 126, which turn the consumers on and off, in this case either a fault "short circuit" or "load drop".

Grundidee der Erfindung ist es nun, die Fehlermeldungen der elektronischen Schalter 124, 125, 126 zu benutzen, um einen Kurzschluss nach Batterie-Plus festzustellen. Ein Kurzschluss nach Batterie-Plus, das heißt nach Versorgungsspannung, entspricht im Grunde einer Dauerversorgung "am" elektronischen Leistungsschalter HS 123 "vorbei". Um einen solchen Fehler zu diagnostizieren, wird am Ende eines Fahrzyklus die Versorgungsspannung gezielt abgeschaltet. Das bedeutet, dass der elektronische Leistungsschalter HS 123 durch den Logikbaustein 122 geöffnet wird. In diesem Falle wird eine Fehlermeldung an den Schaltern 124, 125, 126 wegen fehlender Batteriespannung erwartet. Wird jedoch kein Fehler gemeldet, kann daraus geschlossen werden, dass noch eine Versorgungsspannung anliegt, obwohl die Versorgung bereits abgeschaltet ist. Dieser Zustand wird als Fehler "Kurzschluss nach Batterie-Plus" interpretiert und in einem entsprechend benannten Fehlercode im Steuergerät 120 gespeichert und/oder ausgegeben.The basic idea of the invention is now to use the error messages of the electronic switches 124, 125, 126 in order to determine a short circuit to battery plus. A short circuit to the battery plus, that is to say after the supply voltage, basically corresponds to a permanent supply "at the" electronic circuit breaker HS 123 "over". To diagnose such an error, the supply voltage is switched off at the end of a drive cycle. This means that the electronic power switch HS 123 is opened by the logic module 122. In this case, an error message is expected at the switches 124, 125, 126 due to lack of battery voltage. However, if no error is reported, it can be concluded that there is still a supply voltage, although the supply is already switched off. This condition is interpreted as a "short circuit to battery plus" fault and stored and / or output in a correspondingly designated error code in the controller 120.

Der Logikbaustein 122 kann Teil des Steuergeräts 120 sein und insoweit ein Schaltungsteil des Steuergeräts 120 darstellen. Er kann allerdings auch als Computerprogramm ausgeführt sein, welches im Steuergerät 120 implementiert ist. Das Programm selbst kann auf einem Datenträger gespeichert sein und insoweit auch bei an sich vorhandenen Steuergeräten nachgerüstet werden.The logic module 122 may be part of the controller 120 and thus represent a circuit part of the controller 120. However, it can also be embodied as a computer program which is implemented in the control unit 120. The program itself can be stored on a data carrier and so far also be retrofitted to existing control units.

Claims (5)

  1. Method for identifying a short circuit to the positive terminal of a battery in an electrical circuit of a motor vehicle having an electronic power switch HS (123) that can be actuated by a logic module (122), which is designed as a circuit part or implemented computer program of a control device (120), and having at least one electrically operated switch, preferably a plurality of electrically operated switches LS (124, 125, 126), that switch(es) on and off loads (110, 111, 112), the switched state of said switches being reported to the control device (120) and it being concluded that the operation is then fault-free when the connected loads (110, 111, 112) are supplied with voltage when the electronic power switch HS (123) is switched on and a "short circuit" or "load drop" message is produced at the switches LS (124, 125, 126) in the form of switching signals LSx (124, 125, 126) when the electronic power switch HS (123) is switched off, wherein at the end of a driving cycle of the motor vehicle the voltage supply is purposefully switched off by means of an electronic power switch HS (123) and the switched state is identified at each electrically operated switch LS (124, 125, 126) that switches on and off the loads (110, 111, 112) and it is then concluded that there is an error when a "short circuit" or "load drop" message is not produced at at least one of the electrically operated switches LS (124, 125, 126).
  2. Method according to Claim 1, characterized in that the error is classified as a "short circuit to the positive terminal of a battery" and a corresponding error code is broadcast by the control device (120).
  3. Circuit arrangement for identifying a short circuit to a positive terminal of a battery in an electrical circuit of a motor vehicle comprising a control device (120) having a power switch HS (123) which can be actuated by the control device (120), having at least one electrically operated switch, preferably a plurality of electrically operated switches LS (124, 125, 126), that switch(es) on and off loads (110, 111, 112), having a logic module (122) which is connected to the power switch HS (123) for the activation thereof and to the electrically operated switches LS (124, 125, 126), with the result that switched states of the electrically operated switches LS (124, 125, 126) are reported to the logic module (122) of the control device (120), a vehicle battery which supplies a supply voltage (Ubatt) to an input of the control device (120), wherein the power switch HS (123) is connected between the vehicle battery and the loads (110, 111, 112) in order to disconnect the loads (110, 111, 112) from the supply voltage Ubatt or connect them to the supply voltage Ubatt, and wherein the logic module (122) of the control device (120), which is designed as a circuit part or implemented computer program of the control device (120), carries out the method according to either of Claims 1 and 2.
  4. Computer program that performs all the steps of a method according to Claim 1 or 2, if said computer program is running on a control device (120) in an internal combustion engine.
  5. Computer program product having a program code that is stored on a machine-readable carrier for carrying out the method according to any one of Claims 1 or 2 if the program is performed on a computer or on a control device (120) of a vehicle.
EP11705605.1A 2010-03-16 2011-03-01 Method for identifying a short circuit to the positive terminal of a battery and circuit device for carrying out the method Active EP2547556B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010002899A DE102010002899A1 (en) 2010-03-16 2010-03-16 Method for detecting a short circuit to battery plus and circuit device for carrying out the method
PCT/EP2011/053008 WO2011113689A1 (en) 2010-03-16 2011-03-01 Method for identifying a short circuit to the positive terminal of a battery and circuit device for carrying out the method

Publications (2)

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EP2547556A1 EP2547556A1 (en) 2013-01-23
EP2547556B1 true EP2547556B1 (en) 2017-05-10

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EP11705605.1A Active EP2547556B1 (en) 2010-03-16 2011-03-01 Method for identifying a short circuit to the positive terminal of a battery and circuit device for carrying out the method

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US (1) US8825282B2 (en)
EP (1) EP2547556B1 (en)
KR (1) KR20130016229A (en)
CN (1) CN102791531B (en)
DE (1) DE102010002899A1 (en)
WO (1) WO2011113689A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108189784B (en) * 2018-02-09 2024-07-16 北京北方车辆集团有限公司 Annular distribution system of crawler armored vehicle
CN111332229B (en) * 2020-03-11 2021-11-23 上海度普新能源科技有限公司 Vehicle control method and device, storage medium and electronic equipment

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10235162A1 (en) * 2002-08-01 2004-02-19 Robert Bosch Gmbh Controller in vehicle, especially for airbag, has converter with electrical isolation for supplying energy to components with earth connections, and data transfer coupling elements with isolation
CN1917329A (en) * 2005-08-19 2007-02-21 上海尽祥数码科技有限公司 Direct power feed bus controller for cars, and control method
JP4180597B2 (en) * 2005-11-09 2008-11-12 三菱電機株式会社 Abnormality detection device for power supply circuit
JP5060857B2 (en) * 2007-07-19 2012-10-31 日立ビークルエナジー株式会社 Cell controller
DE102008040810A1 (en) * 2008-07-29 2010-02-04 Robert Bosch Gmbh Electrical wiring system

Also Published As

Publication number Publication date
EP2547556A1 (en) 2013-01-23
DE102010002899A1 (en) 2011-09-22
US8825282B2 (en) 2014-09-02
WO2011113689A1 (en) 2011-09-22
US20120310476A1 (en) 2012-12-06
CN102791531A (en) 2012-11-21
CN102791531B (en) 2015-07-22
KR20130016229A (en) 2013-02-14

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